Research
Frontier robotics research: arXiv cs.RO papers, embodied AI, VLA models, manipulation, navigation and learning systems.
Frontier robotics research: arXiv cs.RO papers, embodied AI, VLA models, manipulation, navigation and learning systems.
Latest in Research
4787 storiesLearning Fault-Tolerant Locomotion with Adaptive Gait Timing
arXiv:2608.07328v1 Announce Type: new Abstract: Hardware failures require legged robots to rapidly reorganize coordination and gait timing to maintain stability…
TEMPO: Semantic-Action Decoupled RL Post-Training for Vision-Language-Action Models
arXiv:2608.07314v1 Announce Type: new Abstract: Vision-language-action (VLA) models are commonly adapted to downstream manipulation tasks via supervised fine-tu…
Identifying the Key Biomechanical Features of Movement Adaptation during Exoskeleton-Assisted Locomotion
arXiv:2608.07140v1 Announce Type: new Abstract: The understanding of natural human adaptation during exoskeleton-assisted locomotion - particularly individual d…
LifelongCrossNav: Persistent 3D Semantic Memory for Cross-Floor Multi-Object Navigation
arXiv:2608.07079v1 Announce Type: new Abstract: Object-goal navigation has made substantial progress in semantic perception and exploration, yet persistent memo…
Real-time Whole-Body Motion Planning for Mobile Manipulators Carrying Arbitrarily Shaped Payloads via Kinematically-Coupled SVSDF
arXiv:2608.07005v1 Announce Type: new Abstract: Mobile manipulators are increasingly tasked with transporting large, non-convex payloads through cluttered envir…
Benchmarking and Reasoning Distillation of Large Language Models for Feedback Controller Design in Complex Dynamical Systems
arXiv:2608.07004v1 Announce Type: new Abstract: Although remarkable capabilities have been demonstrated by Large Language Models (LLMs) across scientific domain…
Automated Terminal-to-Housing Assembly System for Flat Ribbon Cable Harness
arXiv:2608.06996v1 Announce Type: new Abstract: This paper presents a sensor-minimal automated assembly system for bidirectional single-row flat ribbon cable ha…
Exact Thrust-Reversal Limits of Bidirectional Propellers under Bounded Motor Inputs
arXiv:2608.06991v1 Announce Type: new Abstract: Bidirectional propellers are often treated as signed thrust sources, but their thrust is a signed-quadratic func…
Unordered Landmark Visual Navigation
arXiv:2608.06833v1 Announce Type: new Abstract: Image-goal navigation is a fundamental capability for embodied AI, yet its practical deployment is strained by s…
Is Forward Prediction Enough? Physical State Grounding for JEPA World Models
arXiv:2608.06799v1 Announce Type: new Abstract: Learning structured and control-relevant latent representations remains a key challenge for world models. Recent…
AtlasVLA: Persistent World-Ego State Modeling for Vision-Language-Action Models
arXiv:2608.06729v1 Announce Type: new Abstract: While Vision-Language-Action (VLA) models have advanced embodied AI, their fundamentally reactive paradigm sever…
CrossTracer: Cross-Embodiment Navigation via VLA Model Reasoning and Trace Residuals Adapting
arXiv:2608.06688v1 Announce Type: new Abstract: Vision-language-action (VLA) models provide strong semantic priors for robot navigation, but they often ignore e…
Plan-and-Avoid: Real-Time Aircraft Trajectory Coordination in a Multi-Agent Environment
arXiv:2608.06648v1 Announce Type: new Abstract: This paper presents a real-time Plan-and-Avoid (PAA framework for coordinating cooperative multi-agent airspace …
LyEvO: Lyapunov-Guided Evolutionary Optimization for Safe and Robust Sim-to-Real Policy Learning
arXiv:2608.06481v1 Announce Type: new Abstract: Training controllers that are safe and robust in simulation, and systematically assessing their readiness for re…
GAUGE: A Measurement-Grounded Benchmark for Physical Fidelity in Simulation Engines and Video World Models
arXiv:2608.05948v1 Announce Type: cross Abstract: Physics engines facilitate large-scale training and evaluation for embodied intelligence, while generative vid…
$\omega$-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation
arXiv:2608.06375v1 Announce Type: new Abstract: Humanoid household tasks often require concurrent loco-manipulation, where the robot must move, adjust posture, …
LoDA: A Level of Detection Aware Method and a Multimodal Sensing Benchmark for Object Level Change Detection
arXiv:2608.05356v1 Announce Type: cross Abstract: High-definition 3D LiDAR maps are important for autonomous driving and smart-city services, which require reli…
Hijacking Robots with a Piece of Paper: A Systematic Study of Physical Prompt Injection in VLM-Controlled Robots
arXiv:2608.05715v1 Announce Type: new Abstract: Vision-Language Models (VLMs) are increasingly deployed as planners in robotic systems, where they translate nat…
ErgoSurf: Ergodic Control for the Coverage of Unknown Surfaces
arXiv:2608.06208v1 Announce Type: new Abstract: Contact-centric tasks on surfaces, ranging from inspection and cleaning to sanding and polishing, require robots…
Transcutaneous Spinal Cord Stimulation Disrupts Conscious Ankle Proprioception and Produces a More Constrained Locomotor Pattern in Unimpaired Adults
arXiv:2608.05635v1 Announce Type: cross Abstract: Transcutaneous spinal cord stimulation (tSCS) modulates spinal sensorimotor circuits primarily through activat…
Robot Learning from Human Demonstrations: Handwritten Alphabet Trajectories and Human-Likeness Evaluation
arXiv:2608.06221v1 Announce Type: new Abstract: Learning from demonstration (LfD) provides a developmental framework through which robots can develop motor skil…
XEWorld: Can Action-Conditioned World Models Generalize to Unseen Robot Embodiments?
arXiv:2608.05799v1 Announce Type: new Abstract: Action-conditioned world models are promising learned simulators for robotic manipulation, yet evaluating them e…
SkillMemo: Expert-guided Skill Memory Framework for Compositional Embodied Manipulation
arXiv:2608.05970v1 Announce Type: new Abstract: Embodied visuomotor models, including Diffusion Policy (DP) and Vision-Language-Action (VLA) models, have demons…
In-Context VLA: Endowing Vision-Language-Action Models with Language via In-Context Post-Training and Agentic Tool Use
arXiv:2608.05738v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have become the dominant recipe for generalist manipulation, yet they are al…
Robotic Nanoparticle Synthesis via Solution-based Processes
arXiv:2604.12169v2 Announce Type: replace Abstract: We present a screw geometry-based manipulation planning framework for the robotic automation of solution-bas…
IcFuzz: Fuzzing Isaac Sim with Semantic Stage Guidance and Multi-level Mutation
arXiv:2608.06088v1 Announce Type: new Abstract: Robotics simulators serve as a foundational infrastructure for embodied AI, facilitating safe and scalable robot…
NavTrust: Benchmarking Trustworthiness for Embodied Navigation
arXiv:2603.19229v2 Announce Type: replace Abstract: There are two major categories of embodied navigation: Vision-Language Navigation (VLN), where agents naviga…
Unified Planning-Learning Framework for Robust UUV Navigation Under Partial Observability
arXiv:2608.05365v1 Announce Type: new Abstract: This paper presents an observation-only autonomy framework for Unmanned Underwater Vehicles (UUVs) navigation in…
Adaptive-WAM: Quality-Guided Early-Exit Planning from Intermediate Video-Diffusion Features
arXiv:2608.06008v1 Announce Type: new Abstract: Large video diffusion models provide rich spatiotemporal priors for autonomous driving, but existing world-actio…
Coordinated Multi-Robot Disassembly for Makespan Optimization of Large-Scale Assemblies
arXiv:2608.05830v1 Announce Type: new Abstract: Multi-robot task and motion planning for disassembly tasks requires robots to operate in confined workspaces whi…